public List <VertexWeightedLandmarkAndHsp> Expand(VertexWeightedLandmarkAndHsp v, HashSet <CompoundFormula> levelPotential, List <VertexWeightedLandmarkAndHsp> needUpDate) { List <VertexWeightedLandmarkAndHsp> lExpanded = new List <VertexWeightedLandmarkAndHsp>(); foreach (Agent agent in agents) { foreach (Action act in agent.publicActions) { //if (act.Name.Contains("p1_black")) // Console.WriteLine("*"); Program.messages += agents.Count; VertexWeightedLandmarkAndHsp newVertexHsp = v.Apply(act); if (newVertexHsp != null) { // if (act.Name.Contains("verysmooth")) // Console.WriteLine("*"); lExpanded.Add(newVertexHsp); CompoundFormula effect = new CompoundFormula("and"); foreach (GroundedPredicate gp in act.HashEffects) { if (agent.PublicPredicates.Contains(gp)) { effect.AddOperand(gp); } } levelPotential.Add(effect); // needUpDate.Add(newVertexHsp); } } } return(lExpanded); }